Technical Communique: Dynamic transfer between sliding control and internal model control

Authors:
Shang-Teh Wu
Affiliations:
Department of Mechanical Engineering, National Yunlin University of Science & Technology, 123 University RD. Sec. 3, Touliu, Yunlin 640, Taiwan, ROC
Venue:
Automatica (Journal of IFAC)
Year:
1999

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Abstract

An algorithm is proposed combining a sliding controller and an internal-model controller for robust tracking and disturbance rejection. The sliding controller is enforced in the transient phase for fast response and taken over by a linear internal-model controller in the steady phase for smooth control efforts. An internal-model observer is introduced to estimate the equivalent control input from the chattering signals in the transient phase, so that a smooth transition between the two control laws can be ensured.